Revise acceptance criteria and restrictions documentation to clarify recent updates and specifications. Key changes include enhanced definitions for position accuracy, image processing quality, and operational parameters, as well as updates to camera specifications and validation requirements. This revision aims to improve clarity and ensure alignment with project goals.

_docs/02_document/diagrams/component_overview.md

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+# Component Overview Diagram
+
+```mermaid
+flowchart LR
+    camera[01 Camera Ingest And Calibration]
+    vio[02 BASALT VIO Adapter]
+    wrapper[03 Safety And Anchor Wrapper]
+    retrieval[04 Satellite Retrieval]
+    verify[05 Anchor Verification]
+    cache[06 Cache And Tile Lifecycle]
+    mav[07 MAVLink And GCS Integration]
+    fdr[08 FDR And Observability]
+    tests[09 Validation Harness]
+
+    navCam[[Nav Camera]] --> camera
+    fc[[ArduPilot Plane FC]] --> mav
+    satSvc[[Satellite Service]] --> cache
+    datasets[[Replay/Public Datasets]] --> tests
+
+    camera --> vio
+    mav --> vio
+    vio --> wrapper
+    wrapper --> retrieval
+    retrieval --> verify
+    cache --> retrieval
+    cache --> verify
+    verify --> wrapper
+    wrapper --> mav
+    wrapper --> cache
+    camera --> cache
+
+    camera --> fdr
+    vio --> fdr
+    wrapper --> fdr
+    retrieval --> fdr
+    verify --> fdr
+    cache --> fdr
+    mav --> fdr
+
+    tests --> camera
+    tests --> mav
+    tests --> cache
+    mav --> qgc[[QGroundControl]]
+    mav --> fc
+    cache --> satSvc
+```

_docs/02_document/diagrams/flows/flow_cache_tile_lifecycle.md

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+# Flow: Cache And Generated Tile Lifecycle
+
+```mermaid
+flowchart TD
+    preflight([Pre-flight cache sync]) --> validate[06 Validate manifest signatures hashes freshness]
+    validate --> cacheOk{Cache valid?}
+    cacheOk -->|No| block[Block cache usage and report]
+    cacheOk -->|Yes| load[04 Load descriptor metadata and FAISS index]
+    load --> flight([Flight runtime])
+    flight --> eligibility[03 Tile write eligibility check]
+    eligibility --> eligible{Covariance and quality pass?}
+    eligible -->|No| noWrite[Do not write generated tile]
+    eligible -->|Yes| write[06 Write COG + signed JSON sidecar]
+    write --> fdr[08 Record tile-write audit]
+    fdr --> postflight([Post-flight])
+    postflight --> package[06 Package generated tiles + manifest delta]
+    package --> sync[[Satellite Service ingest]]
+```

_docs/02_document/diagrams/flows/flow_normal_localization.md

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+# Flow: Normal Localization
+
+```mermaid
+flowchart TD
+    start([Frame + FC telemetry]) --> ingest[01 Camera ingest and quality]
+    ingest --> occlusion{Total occlusion or blackout?}
+    occlusion -->|Yes| imuOnly[03 IMU-only dead_reckoned propagation]
+    occlusion -->|No| frameOk{Frame usable for VIO?}
+    frameOk -->|No| degrade[03 Safety wrapper degraded mode]
+    frameOk -->|Yes| vio[02 BASALT VIO adapter]
+    telemetry[07 MAVLink telemetry] --> vio
+    vio --> healthy{VIO healthy?}
+    healthy -->|Yes| wrap[03 Covariance calibration + source label]
+    healthy -->|No| trigger[Trigger relocalization]
+    wrap --> emit[07 Emit GPS_INPUT and QGC status]
+    wrap --> record[08 Record FDR event]
+    emit --> endNode([Position output])
+    trigger --> satFlow[[Satellite relocalization flow]]
+    imuOnly --> emit
+    degrade --> emit
+```

_docs/02_document/diagrams/flows/flow_satellite_relocalization.md

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+# Flow: Satellite Relocalization
+
+```mermaid
+flowchart TD
+    start([Relocalization trigger]) --> request[03 Build retrieval request]
+    request --> retrieve[04 DINOv2-VLAD + FAISS top-K]
+    retrieve --> candidates{Candidates found?}
+    candidates -->|No| degraded[03 Continue degraded/dead reckoned]
+    candidates -->|Yes| verify[05 ALIKED/DISK + LightGlue + RANSAC]
+    verify --> geometry{Geometry passes?}
+    geometry -->|No| degraded
+    geometry -->|Yes| gates[03 Freshness/provenance/Mahalanobis gates]
+    gates --> accepted{Anchor accepted?}
+    accepted -->|No| degraded
+    accepted -->|Yes| update[03 Apply absolute correction]
+    update --> emit[07 Emit anchored GPS_INPUT]
+    degraded --> emitDegraded[07 Emit degraded GPS_INPUT/status]
+    emit --> record[08 Record anchor decision]
+    emitDegraded --> record
+    record --> endNode([Relocalization result])
+```